// --------------------------------------------------------------------------------------------------------------------
// <copyright file="Landmark.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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namespace Microsoft.Robotics.Vision.Runtime.GroundTruthExtraction
{
    using System;
    using System.IO;
    using System.Runtime.CompilerServices;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.IO;
    using Microsoft.Robotics.Numerics;

    /// <summary>
    /// Class which encapsulates information about a landmark  such as its id, pose and any calibration information.
    /// </summary>
    [DataContract]
    public class Landmark
    {
        /// <summary>
        /// The id of the landmark.
        /// </summary>
        [DataMember(Name = "Id")]
        private int id;

        /// <summary>
        /// The pose of the landmark (relative to the first landmark).
        /// </summary>
        [DataMember(Name = "Pose")]
        private Pose2D pose;

        /// <summary>
        /// Landmark tilt calibration params.
        /// </summary>
        [DataMember(Name = "TiltCalibrationParams")]
        private LandmarkTiltParams tiltCalibrationParams;

        /// <summary>
        /// Initializes a new instance of the <see cref="Landmark"/> class.
        /// </summary>
        /// <param name="id">Landmark Id</param>
        /// <param name="pose">Landmark Pose</param>
        /// <param name="tiltCalibrationParams">Landmark Tilt Calibration Params</param>
        public Landmark(int id, Pose2D pose, LandmarkTiltParams tiltCalibrationParams)
        {
            this.id = id;
            this.pose = pose;
            this.tiltCalibrationParams = tiltCalibrationParams;
        }

        /// <summary>
        /// Gets or sets the Id
        /// </summary>
        public int Id
        {
            get
            {
                return this.id;
            }

            set
            {
                this.id = value;
            }
        }

        /// <summary>
        /// Gets or sets the landmark pose.
        /// </summary>
        public Pose2D Pose
        {
            get
            {
                return this.pose;
            }

            set
            {
                this.pose = value;
            }
        }

        /// <summary>
        /// Gets or sets the tilt calibration parameters
        /// </summary>
        public LandmarkTiltParams TiltCalibrationParams
        {
            get
            {
                return this.tiltCalibrationParams;
            }

            set
            {
                this.tiltCalibrationParams = value;
            }
        }
    }
}
